Description

On a Franka, panda_arm_controller shows the error Velocity of last trajectory point of joint panda_joint1 is not zero: 0.000051995959914. The issue is similar to moveit/moveit#2254, and there it is mentioned that the issue still persists on humble.

This error can be worked around by setting allow_nonzero_velocity_at_trajectory_end: true. But it is unclear if moveit_servo is allowed to generate these nonzero-ending trajectories in the first place and controllers should allow this, or if this is indeed a bug. There is nothing about this in the documentation.

ROS Distro

Jazzy

OS and version

Ubuntu 24.04

Source or binary build?

Binary

If binary, which release version?

2.12.3

If source, which branch?

No response

Which RMW are you using?

None

Steps to Reproduce

Run a Franka with something like

servo_node = Node(
    package="moveit_servo",
    executable="servo_node",
    name="servo_node",
    output="screen",
    parameters=robot_description_parameters+[
        {"moveit_servo.smoothing_filter_plugin_name": "online_signal_smoothing::AccelerationLimitedPlugin"},
        {"update_period": 0.01},
        {"planning_group_name": move_group_name},
        {"moveit_servo.move_group_name": move_group_name},
    ],
)

with something like servo_keyboard_input or the demo_twist.launch.py.

Expected behavior

No warnings should appear.

Actual behavior

Many Velocity of last trajectory point of joint panda_joint1 is not zero:.

Backtrace or Console output

No response